artisynth.core.opensim.components

Class SimpleCoordinateCoupler

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.ConstrainerBase

artisynth.core.opensim.components.SimpleCoordinateCoupler

All Implemented Interfaces:

Constrainer, HasNumericState, ModelComponent, PostScannable, RenderableComponent, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class SimpleCoordinateCoupler
extends ConstrainerBase

Nested Class Summary

Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent

ModelComponent.NavpanelVisibility

Field Summary

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, myProps, NULL_OBJ, useCompactPathNames

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
SimpleCoordinateCoupler()
SimpleCoordinateCoupler(OpenSimCustomJoint joint0, int coordNum0, OpenSimCustomJoint joint1, int coordNum1)

Method Summary

Modifier and Type	Method and Description
int	addBilateralConstraints(SparseBlockMatrix GT, VectorNd dg, int numb) Appends the current bilateral force constraint matrix Gc^T to the matrix GT, by appending block columns to it.
RenderProps	createRenderProps() Factory method to create render properties appropriate to this object.
int	getBilateralForces(VectorNd lam, int idx) Returns the bilateral forces that were most recently set for this constrainer using Constrainer.setBilateralForces(maspack.matrix.VectorNd, double, int).
int	getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx) Returns constraint information for each row of the bilateral constraint system
void	getBilateralSizes(VectorNi sizes) Returns the sizes of each block column in the bilateral force constraint matrix.
void	getConstrainedComponents(java.util.List<DynamicComponent> list) Collected all the dynamic components constrained by this constrainer.
void	prerender(RenderList list) Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates).
void	render(Renderer renderer, int flags) Render this object using the functionality of the supplied Renderer.
int	setBilateralForces(VectorNd lam, double s, int idx) Sets the bilateral forces that were computed to enforce this constraint.
void	updateBounds(Vector3d pmin, Vector3d pmax) Update the minimum and maximum points for this object.
double	updateConstraints(double t, int flags) Updates the current set of constraints, and returns the maximum penetration > 0 associated with all of them.
void	zeroForces() Zeros all bilateral and unilateral constraint forces in this constraint.

Methods inherited from class artisynth.core.mechmodels.ConstrainerBase

addFrictionConstraints, addUnilateralConstraints, getFrictionForces, getFrictionState, getState, getUnilateralForces, getUnilateralInfo, getUnilateralSizes, getUnilateralState, hasState, maxFrictionConstraintSets, setFrictionForces, setFrictionState, setState, setUnilateralForces, setUnilateralState

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

copy, getRenderHints, getRenderProps, getSelection, isSelectable, isVisible, numSelectionQueriesNeeded, setRenderProps, setVisible, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getAllPropertyInfo, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences, write

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.modelbase.HasNumericState

advanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, numAuxVars, requiresAdvance, setAuxVarState

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable

postscan

Methods inherited from interface maspack.util.Scannable

isWritable, write

Constructor Detail

SimpleCoordinateCoupler

public SimpleCoordinateCoupler()

SimpleCoordinateCoupler

public SimpleCoordinateCoupler(OpenSimCustomJoint joint0,
                               int coordNum0,
                               OpenSimCustomJoint joint1,
                               int coordNum1)

Method Detail

getBilateralSizes

public void getBilateralSizes(VectorNi sizes)

Description copied from interface: Constrainer

Returns the sizes of each block column in the bilateral force constraint matrix. The size for each block should be appended to the vector sizes.

Specified by:

getBilateralSizes in interface Constrainer

Specified by:

getBilateralSizes in class ConstrainerBase

Parameters:

sizes - vector to which the block column sizes are appended

addBilateralConstraints

public int addBilateralConstraints(SparseBlockMatrix GT,
                                   VectorNd dg,
                                   int numb)

Description copied from interface: Constrainer

Appends the current bilateral force constraint matrix Gc^T to the matrix GT, by appending block columns to it. If the argument dg is non-null, it should be used to return the velocity constraint time derivative, defined by

 \dot Gc vel
 

starting at the location numb. In all cases, the method must return an updated value of numb, incremented by the total row size of Gc.

Specified by:

addBilateralConstraints in interface Constrainer

Specified by:

addBilateralConstraints in class ConstrainerBase

Parameters:

GT - matrix to which the bilateral force contraint matrix is appended.

dg - if non-null, returns the velocity constraint time derivative

numb - starting index for time derivative in dg

Returns:

updated value of numb

getBilateralInfo

public int getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
                            int idx)

Description copied from interface: Constrainer

Returns constraint information for each row of the bilateral constraint system

 Gc vel = 0.
 

This information is placed in pre-allocated MechSystem.ConstraintInfo structures in ginfo, starting at idx. The method must return an updated value of idx, incremented by the number of rows of Gc.

The constraint information to be set in ConstraintInfo includes:

   dist        // distance to the constraint surface.
   compliance  // if > 0, gives constraint compliance value
   damping     // damping; only used if compliance > 0
   force       // used for computing non-linear compliance
 

Specified by:

getBilateralInfo in interface Constrainer

Specified by:

getBilateralInfo in class ConstrainerBase

Parameters:

ginfo - returns the constraint information

idx - starting location in ginfo for returning constraint info

Returns:

updated value of idx

setBilateralForces

public int setBilateralForces(VectorNd lam,
                              double s,
                              int idx)

Description copied from interface: Constrainer

Sets the bilateral forces that were computed to enforce this constraint. These are the Lagrange multipliers for the columns of the transposed bilateral constraint matrix. The forces are supplied in lam, starting at the index idx, and should be scaled by s. (In practice, s is used to convert from impulses to forces.) The method must return an updated value of idx, incremented by the number of forces associated with this constraint.

Specified by:

setBilateralForces in interface Constrainer

Specified by:

setBilateralForces in class ConstrainerBase

Parameters:

lam - supplies the force impulses, which should be scaled by s

s - scaling factor for the force values

idx - starting index of forces in lam

Returns:

updated value of idx

getBilateralForces

public int getBilateralForces(VectorNd lam,
                              int idx)

Description copied from interface: Constrainer

Returns the bilateral forces that were most recently set for this constrainer using Constrainer.setBilateralForces(maspack.matrix.VectorNd, double, int). The forces are returned in lam, starting at the index idx. The method must return an updated value of idx, incremented by the number of forces associated with this constraint.

Specified by:

getBilateralForces in interface Constrainer

Specified by:

getBilateralForces in class ConstrainerBase

Parameters:

lam - returns the forces

idx - starting index for forces in lam

Returns:

updated value of idx

zeroForces

public void zeroForces()

Description copied from interface: Constrainer

Zeros all bilateral and unilateral constraint forces in this constraint.

Specified by:

zeroForces in interface Constrainer

Specified by:

zeroForces in class ConstrainerBase

updateConstraints

public double updateConstraints(double t,
                                int flags)

Description copied from interface: Constrainer

Updates the current set of constraints, and returns the maximum penetration > 0 associated with all of them. If no constraints are presently active, returns -1.

Specified by:

updateConstraints in interface Constrainer

Specified by:

updateConstraints in class ConstrainerBase

getConstrainedComponents

public void getConstrainedComponents(java.util.List<DynamicComponent> list)

Description copied from interface: Constrainer

Collected all the dynamic components constrained by this constrainer. Not currently used.

Specified by:

getConstrainedComponents in interface Constrainer

Specified by:

getConstrainedComponents in class ConstrainerBase

Parameters:

list - list to which constrained components should be appended

updateBounds

public void updateBounds(Vector3d pmin,
                         Vector3d pmax)

Description copied from interface: IsRenderable

Update the minimum and maximum points for this object. In an x-y-z coordinate system with x directed to the right and y directed upwards, the minimum and maximum points can be thought of as defining the left-lower-far and right-upper-near corners of a bounding cube. This method should only reduce the elements of the minimum point and increase the elements of the maximum point, since it may be used as part of an iteration to determine the bounding cube for several different objects.

Specified by:

updateBounds in interface IsRenderable

Overrides:

updateBounds in class RenderableComponentBase

Parameters:

pmin - minimum point

pmax - maximum point

createRenderProps

public RenderProps createRenderProps()

Description copied from interface: HasRenderProps

Factory method to create render properties appropriate to this object.

Specified by:

createRenderProps in interface HasRenderProps

Overrides:

createRenderProps in class RenderableComponentBase

Returns:

new render properties for this object

prerender

public void prerender(RenderList list)

Description copied from interface: IsRenderable

Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates). The object may add internal objects to the list of objects being rendered, by calling

list.addIfVisible (obj);

for each of the objects in question.

Specified by:

prerender in interface IsRenderable

Overrides:

prerender in class RenderableComponentBase

Parameters:

list - list of objects to be rendered

render

public void render(Renderer renderer,
                   int flags)

Description copied from interface: IsRenderable

Render this object using the functionality of the supplied Renderer.

Specified by:

render in interface IsRenderable

Specified by:

render in class RenderableComponentBase

Parameters:

renderer - provides the functionality used to perform the rendering.

flags - flags that may be used to control different aspects of the rendering. Flags are defined in Renderer and currently include Renderer.HIGHLIGHT and Renderer.SORT_FACES.